Adaptive control of straight worms without derivative measurement |
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Authors: | Carsten Behn |
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Affiliation: | 1.Department of Technical Mechanics,Ilmenau University of Technology,Ilmenau,Germany |
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Abstract: | In this paper we consider an adaptive control problem of finite DoF worm-like locomotion systems (WLLS) which contact the
ground with Coulomb dry friction. Using a rough mathematical friction law the system is shown to belong to a system class
that allows adaptive control. Gaits from the kinematic theory can be tracked by means of adaptive controllers. For this we
introduce two different adaptive controllers for λ-tracking and focus on that one which is not based on the derivative of the output. We pay attention to the analysis of such
systems and present some theoretical control investigations including proofs. Numerical simulations of tracking different
reference signals under arbitrary choice of the system parameters demonstrate and illustrate that the introduced simple adaptive
controllers work successfully and effectively. Current experiments are aimed at the justification of theoretical results. |
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